diff --git a/boards/arm/stm32/common/Kconfig b/boards/arm/stm32/common/Kconfig
index 4eef44c53cb..e029254339a 100644
--- a/boards/arm/stm32/common/Kconfig
+++ b/boards/arm/stm32/common/Kconfig
@@ -70,4 +70,12 @@ endif # BOARD_STM32_IHM16M1
 
 endif # STM32_FOC
 
+if SENSORS_HALL3PHASE
+
+config BOARD_STM32_HALL3PHASE_SAMPLES
+       int "3-phase Hall effect sensor number of samples"
+       default 10
+
+endif # SENSORS_HALL3PHASE
+
 endif # BOARD_STM32_COMMON
diff --git a/boards/arm/stm32/common/include/board_hall3ph.h b/boards/arm/stm32/common/include/board_hall3ph.h
new file mode 100644
index 00000000000..4b1431a5558
--- /dev/null
+++ b/boards/arm/stm32/common/include/board_hall3ph.h
@@ -0,0 +1,67 @@
+/****************************************************************************
+ * boards/arm/stm32/common/include/board_hall3ph.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __BOARD_HALL3PH_H
+#define __BOARD_HALL3PH_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_hall3ph_initialize
+ *
+ * Description:
+ *   Initialize the 3-phase Hall effect sensor driver for the given timer
+ *
+ * Input Parameters:
+ *   devno - The device number, used to build the device path as /dev/hallN
+ *   pha   - phase A Hall effect sensor pin configuration
+ *   phb   - phase B Hall effect sensor pin configuration
+ *   phc   - phase C Hall effect sensor pin configuration
+ *
+ ****************************************************************************/
+
+int board_hall3ph_initialize(int devno, int pha, int phb, int phc);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __BOARD_HALL3PH_H
diff --git a/boards/arm/stm32/common/src/Make.defs b/boards/arm/stm32/common/src/Make.defs
index 45e91b6f3f1..8fee81a4e8b 100644
--- a/boards/arm/stm32/common/src/Make.defs
+++ b/boards/arm/stm32/common/src/Make.defs
@@ -78,6 +78,10 @@ ifeq ($(CONFIG_SENSORS_QENCODER),y)
   CSRCS += stm32_qencoder.c
 endif
 
+ifeq ($(CONFIG_SENSORS_HALL3PHASE),y)
+  CSRCS += board_hall3ph.c
+endif
+
 ifeq ($(CONFIG_SENSORS_INA219),y)
   CSRCS += stm32_ina219.c
 endif
diff --git a/boards/arm/stm32/common/src/board_hall3ph.c b/boards/arm/stm32/common/src/board_hall3ph.c
new file mode 100644
index 00000000000..913d0fc3d71
--- /dev/null
+++ b/boards/arm/stm32/common/src/board_hall3ph.c
@@ -0,0 +1,75 @@
+/****************************************************************************
+ * boards/arm/stm32/common/src/board_hall3ph.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <stdio.h>
+#include <assert.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/hall3ph.h>
+#include <arch/board/board.h>
+
+#include "stm32_hall3ph.h"
+#include "board_hall3ph.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_hall3ph_initialize
+ *
+ * Description:
+ *   Initialize the 3-phase Hall effect sensor driver
+ *
+ ****************************************************************************/
+
+int board_hall3ph_initialize(int devno, int pha, int phb, int phc)
+{
+  struct stm32_hall3ph_cfg_s cfg;
+  char                       devpath[12];
+  int                        ret = OK;
+
+  /* Get configuration */
+
+  cfg.gpio_pha = pha;
+  cfg.gpio_phb = phb;
+  cfg.gpio_phc = phc;
+  cfg.samples  = CONFIG_BOARD_STM32_HALL3PHASE_SAMPLES;
+
+  /* Initialize a Hall effect sensor interface. */
+
+  snprintf(devpath, 12, "/dev/hall%d", devno);
+
+  ret = stm32_hall3ph_initialize(devpath, &cfg);
+  if (ret < 0)
+    {
+      snerr("ERROR: stm32_hall3ph_initialize failed: %d\n", ret);
+    }
+
+  return ret;
+}